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from rclpy.node import Node
from rclpy.task import Future


async def futures_wait_for(node: Node, futures: list[Future], timeout_sec: float):
    """await a list of futures with a timeout"""
    first_done_future: Future = Future()

    def timeout_callback():
        first_done_future.set_result(None)

    timer = node.create_timer(timeout_sec, timeout_callback)

    def future_done_callback(arg):
        if all(future.done() for future in futures):
            first_done_future.set_result(None)

    for future in futures:
        future.add_done_callback(future_done_callback)

    await first_done_future

    timer.cancel()
    timer.destroy()
